Kazan (Volga region) Federal University, KFU
KAZAN
FEDERAL UNIVERSITY
 
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ARTAG, APRILTAG AND CALTAG FIDUCIAL SYSTEMS COMPARISON IN A PRESENCE OF PARTIAL ROTATION: MANUAL AND AUTOMATED APPROACHES
Form of presentationArticles in international journals and collections
Year of publication2019
Языкрусский
  • Magid Evgeniy Arkadevich, author
  • Sabirova Leysan Nailevna, author
  • Sagitov Artur Gazizovich, author
  • Shabalina Kseniya Sergeevna, author
  • Hongbin Li , author
  • Bibliographic description in the original language Shabalina, K., Sagitov, A., Sabirova, L., Li, H., Magid, E. ARTag, AprilTag and CALTag fiducial systems comparison in a presence of partial rotation: Manual and automated approaches. Lecture Notes in Electrical Engineering, 495, p. 536-558.
    Annotation Fiducial marker systems have unique designs and various geometric shapes but all of them could be automatically detected with cameras. Fiducial marker system are used in such fields as augmented reality applications, medicine, space and robot-assisted tasks. A variety of applications determines criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. This paper presents experimental comparison of existing ARTag, AprilTag, and CALTag systems with regard to their reliability and detection rate in occlusions of various types and intensities. Two camera types are used for experiments: inexpensive Web camera FaceCam 1000X and a high fidelity camera, which is a main vision sensor of a Russian humanoid robot AR-601M. In addition, we describe preliminary results of virtual experiments in ROS Gazebo environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures.
    Keywords Robotics, Camera callibration, Algorithm comparison, Experiments, Virtual models, ARTag, AprilTag, CALTag, Gazebo
    The name of the journal Lecture Notes in Electrical Engineering
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=213260&p_lang=2
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